cmake_minimum_required(VERSION 2.4.6)
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)

# Set the build type.  Options are:
#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
#  Debug          : w/ debug symbols, w/o optimization
#  Release        : w/o debug symbols, w/ optimization
#  RelWithDebInfo : w/ debug symbols, w/ optimization
#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
#set(ROS_BUILD_TYPE RelWithDebInfo)

rosbuild_init()

#set the default path for built executables to the "bin" directory
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
#set the default path for built libraries to the "lib" directory
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)

#uncomment if you have defined messages
rosbuild_genmsg()
#uncomment if you have defined services
#rosbuild_gensrv()

#common commands for building c++ executables and libraries
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp)
#target_link_libraries(${PROJECT_NAME} another_library)
#rosbuild_add_boost_directories()
#rosbuild_link_boost(${PROJECT_NAME} thread)
#rosbuild_add_executable(example examples/example.cpp)
#target_link_libraries(example ${PROJECT_NAME})

#set (CMAKE_CXX_FLAGS "-pthread -I/usr/local/include" )


# build motor controller
include_directories(../Include)
link_directories(../Lib)
rosbuild_add_executable(motorCtl src/robot.cpp)

rosbuild_add_executable(driver src/driver.cpp)

# build test encoder
rosbuild_add_executable(encoder src/encoder.cpp)

# build drive controller
rosbuild_add_library(driveCtlLib src/drivetrain.cpp)
rosbuild_add_library(driveCtlLib src/message.pb.cc)
rosbuild_add_library(driveCtlLib src/messages_robocup_ssl_detection.pb.cc)
rosbuild_add_library(driveCtlLib src/messages_robocup_ssl_geometry.pb.cc)
rosbuild_add_library(driveCtlLib src/messages_robocup_ssl_wrapper.pb.cc)
rosbuild_add_executable(driveCtl src/driveCtl.cpp)
target_link_libraries(driveCtl driveCtlLib)
target_link_libraries(driveCtl protobuf)

# build camera simulation
rosbuild_add_executable(CameraSim src/Camera.cpp)

# build manual control
rosbuild_add_executable(ManualCtrl src/manual_control.cpp)

# check if RBIO is available
target_link_libraries(motorCtl RBIO)
target_link_libraries(encoder RBIO)


